511         for (int level = 0; level < nLevels_ - 1; ++level)  in ORB_Impl()  local
513             n_features_per_level_[level] = cvRound(n_desired_features_per_scale);  in ORB_Impl()
514             sum_n_features += n_features_per_level_[level];  in ORB_Impl()
594     static float getScale(float scaleFactor, int firstLevel, int level)  in getScale()  argument
596         return pow(scaleFactor, level - firstLevel);  in getScale()
610         for (int level = 0; level < nLevels_; ++level)  in buildScalePyramids()  local
612             float scale = 1.0f / getScale(scaleFactor_, firstLevel_, level);  in buildScalePyramids()
616             ensureSizeIsEnough(sz, image.type(), imagePyr_[level]);  in buildScalePyramids()
617             ensureSizeIsEnough(sz, CV_8UC1, maskPyr_[level]);  in buildScalePyramids()
618             maskPyr_[level].setTo(Scalar::all(255));  in buildScalePyramids()
621             if (level != firstLevel_)  in buildScalePyramids()
623                 if (level < firstLevel_)  in buildScalePyramids()
625                     cuda::resize(image, imagePyr_[level], sz, 0, 0, INTER_LINEAR);  in buildScalePyramids()
628                         cuda::resize(mask, maskPyr_[level], sz, 0, 0, INTER_LINEAR);  in buildScalePyramids()
632                     cuda::resize(imagePyr_[level - 1], imagePyr_[level], sz, 0, 0, INTER_LINEAR);  in buildScalePyramids()
636                         cuda::resize(maskPyr_[level - 1], maskPyr_[level], sz, 0, 0, INTER_LINEAR);  in buildScalePyramids()
637                         cuda::threshold(maskPyr_[level], maskPyr_[level], 254, 0, THRESH_TOZERO);  in buildScalePyramids()
643                 image.copyTo(imagePyr_[level]);  in buildScalePyramids()
646                     mask.copyTo(maskPyr_[level]);  in buildScalePyramids()
655             cuda::bitwise_and(maskPyr_[level], buf_, maskPyr_[level]);  in buildScalePyramids()
688         for (int level = 0; level < nLevels_; ++level)  in computeKeyPointsPyramid()  local
690             fastDetector_->setMaxNumPoints(0.05 * imagePyr_[level].size().area());  in computeKeyPointsPyramid()
693 …        fastDetector_->detectAsync(imagePyr_[level], fastKpRange, maskPyr_[level], Stream::Null());  in computeKeyPointsPyramid()
695             keyPointsCount_[level] = fastKpRange.cols;  in computeKeyPointsPyramid()
697             if (keyPointsCount_[level] == 0)  in computeKeyPointsPyramid()
700             ensureSizeIsEnough(3, keyPointsCount_[level], fastKpRange.type(), keyPointsPyr_[level]);  in computeKeyPointsPyramid()
701             fastKpRange.copyTo(keyPointsPyr_[level].rowRange(0, 2));  in computeKeyPointsPyramid()
703             const int n_features = static_cast<int>(n_features_per_level_[level]);  in computeKeyPointsPyramid()
708                 cull(keyPointsPyr_[level], keyPointsCount_[level], 2 * n_features);  in computeKeyPointsPyramid()
711 …sResponses_gpu(imagePyr_[level], keyPointsPyr_[level].ptr<short2>(0), keyPointsPyr_[level].ptr<flo…  in computeKeyPointsPyramid()
715             cull(keyPointsPyr_[level], keyPointsCount_[level], n_features);  in computeKeyPointsPyramid()
718 …IC_Angle_gpu(imagePyr_[level], keyPointsPyr_[level].ptr<short2>(0), keyPointsPyr_[level].ptr<float…  in computeKeyPointsPyramid()
728         for (int level = 0; level < nLevels_; ++level)  in computeDescriptors()  local
729             nAllkeypoints += keyPointsCount_[level];  in computeDescriptors()
742         for (int level = 0; level < nLevels_; ++level)  in computeDescriptors()  local
744             if (keyPointsCount_[level] == 0)  in computeDescriptors()
747             GpuMat descRange = descriptors.rowRange(offset, offset + keyPointsCount_[level]);  in computeDescriptors()
752                 ensureSizeIsEnough(imagePyr_[level].size(), imagePyr_[level].type(), buf_);  in computeDescriptors()
753                 blurFilter_->apply(imagePyr_[level], buf_);  in computeDescriptors()
756 …r_gpu(blurForDescriptor_ ? buf_ : imagePyr_[level], keyPointsPyr_[level].ptr<short2>(0), keyPoints…  in computeDescriptors()
757 …keyPointsCount_[level], pattern_.ptr<int>(0), pattern_.ptr<int>(1), descRange, descriptorSize(), W…  in computeDescriptors()
759             offset += keyPointsCount_[level];  in computeDescriptors()
769         for (int level = 0; level < nLevels_; ++level)  in mergeKeyPoints()  local
770             nAllkeypoints += keyPointsCount_[level];  in mergeKeyPoints()
783         for (int level = 0; level < nLevels_; ++level)  in mergeKeyPoints()  local
785             if (keyPointsCount_[level] == 0)  in mergeKeyPoints()
788             float sf = getScale(scaleFactor_, firstLevel_, level);  in mergeKeyPoints()
790             GpuMat keyPointsRange = keypoints.colRange(offset, offset + keyPointsCount_[level]);  in mergeKeyPoints()
792             float locScale = level != firstLevel_ ? sf : 1.0f;  in mergeKeyPoints()
794 …ation_gpu(keyPointsPyr_[level].ptr<short2>(0), keyPointsRange.ptr<float>(0), keyPointsRange.ptr<fl…  in mergeKeyPoints()
797             keyPointsPyr_[level](Range(1, 3), Range(0, keyPointsCount_[level])).copyTo(range);  in mergeKeyPoints()
799             keyPointsRange.row(4).setTo(Scalar::all(level));  in mergeKeyPoints()
802             offset += keyPointsCount_[level];  in mergeKeyPoints()